US8689640B2 - Method and device for simulating a body that is moved in a translational or rotational manner - Google Patents

Method and device for simulating a body that is moved in a translational or rotational manner Download PDF

Info

Publication number
US8689640B2
US8689640B2 US13/807,120 US201113807120A US8689640B2 US 8689640 B2 US8689640 B2 US 8689640B2 US 201113807120 A US201113807120 A US 201113807120A US 8689640 B2 US8689640 B2 US 8689640B2
Authority
US
United States
Prior art keywords
transmission function
soll
speed
control
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
US13/807,120
Other languages
English (en)
Other versions
US20130098147A1 (en
Inventor
Robert Bauer
Wolfgang Ettl
Christian Gritsch
Michael Wastian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kristl Seibt und Co GmbH
Original Assignee
Kristl Seibt und Co GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kristl Seibt und Co GmbH filed Critical Kristl Seibt und Co GmbH
Assigned to KRISTL, SEIBT & CO. GESELLSCHAFT M.B.H. reassignment KRISTL, SEIBT & CO. GESELLSCHAFT M.B.H. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BAUER, ROBERT, ETTL, WOLFGANG, GRITSCH, CHRISTIAN, WASTIAN, Michael
Publication of US20130098147A1 publication Critical patent/US20130098147A1/en
Application granted granted Critical
Publication of US8689640B2 publication Critical patent/US8689640B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/10—Determining the moment of inertia
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls

Definitions

  • the invention relates to a method for simulating a body moved in a translational or rotational manner, wherein a force acting on said body or a torque acting on said body are detected, and a reference mass or a reference moment of inertia are assigned to said body, and wherein the force or the torque and the reference mass or the reference moment of inertia are used to determine a reference speed for a speed control which controls the actual speed using a control transmission function.
  • the invention refers to a device for simulating a body movable in a translational or rotational manner, having a measuring device to measure a force acting on said body or a torque acting on said body, which measuring device is connected to a calculating device designed to calculate a reference speed for a speed control device from the measured force or torque and a reference mass or reference moment of inertia assigned to said body, said speed control device being equipped with a control device having a control transmission function to control the actual speed.
  • a method for simulating a flywheel mass is e.g. known from U.S. Pat. No. 4,161,116 with respect to a roller type test stand for testing motor vehicles.
  • the roller type test stand has a roller supporting a vehicle wheel, which roller is connected to a torque measuring device transmitting the measured torque to a computer.
  • a test mass is provided to simulate the moment of inertia of the vehicle, which test mass is formed by a flywheel connected to a motor. As the tested vehicle may have a higher or lower moment of inertia than the test mass, the torque of the motor is controlled in accordance with the measured torque.
  • DE3347182A1 discloses another method for simulating flywheel masses on test benches, wherein a test specimen, e.g. an internal combustion engine, is rigidly connected to a direct current machine simulating the load.
  • the mechanical moment of the test specimen is detected by means of a sensor.
  • the reference acceleration of the electrical machine is calculated from the measured moment and the required moment of inertia. Said reference acceleration is compared to actual acceleration, which is calculated from the measured changes in the number of revolutions of the machine. The moment of the electrical machine is readjusted according to this difference.
  • the mechanical moment of the test specimen is transmitted to a smoother element.
  • DE4427966A1 discloses a different type of procedure for simulating mass in a fixed test bench, wherein a load device coupled to a test object is controlled.
  • a torque reference value is deducted from the actual speed by differentiation in a differentiation element and attenuation in a controlled timing element.
  • the reference torque value is compared to the actual torque value derived from a torque sensor by means of a control device.
  • a correcting moment is created if the reference torque value differs from the actual torque value.
  • the timing element determines a time constant, which is proportional to a variable mass moment of inertia of the test object or the testing device. This design is supposed to prevent control circuit instability.
  • the aim of the present invention is to provide a simply implementable, stable method as described above, eliminating or at least considerably reducing the influence of the control of the number of revolutions on the dynamic behavior of the body moved in a rotational or translational manner.
  • the invention provides a device of simple construction as described above, allowing the dynamic behavior of a moved body to be simulated precisely.
  • this aim is achieved by determining the reference speed by means of a transmission element comprising a transmission function that is reciprocally proportional to the control transmission function.
  • a reference moment of inertia is pre-set, which may differ from the available moment of inertia of the rotating body.
  • This difference between the pre-set reference moment of inertia and the available moment of inertia is balanced by controlling the speed of the rotating body.
  • This speed control receives a reference speed as an input, said reference speed being determined from the torque of the rotating body and the reference moment of inertia.
  • the function of the speed control is described as a complex transmission function defined as the relationship between output behavior and input behavior of the respective control system, i.e. between the reference speed and the actual speed of the rotating body.
  • said transmission element has a transmission function reciprocal or indirectly proportional to the control transmission function to determine the reference speed. Consequently, said transmission element has a dynamic that is diametrically opposed to the speed control dynamic, thus disengaging the entire simulation process from the influence of speed control.
  • the time behavior introduced into the entire control circuit by speed control is compensated by the upstream transmission element.
  • this has the advantage that the rotating body may simulate a reference moment of inertia differing from the available moment of inertia without causing a time delay between the dynamic behavior of the tested body and the dynamic behavior of the simulated system.
  • the transmission element advantageously has an integrating element to determine the reference speed and a compensation element inverse to the control transmission function.
  • the torque acting on the rotating body which torque may be composed of various components depending on the set-up, is related to angular acceleration according to the law or principle of conservation of angular momentum. If the body is moved translationally, the principle of linear momentum applies analogously.
  • (angular) speed is determined by integrating (angular) acceleration.
  • the method for determining speed from the measured torque using the principle of conservation of angular momentum is extended such that the integrating element is connected to a compensating element having a transmission behavior inverse to the control transmission function, so that the dynamic of speed control is compensated when looking at the control circuit as a whole.
  • said integrating element may—like all the other control circuit components—be used for summing up time-discreet values.
  • reference speed is advantageously determined by means of a transmission function reciprocally proportional to a control transmission function of the n th degree, particularly of the 1 st or 2 nd degrees.
  • the transmission function of the transmission element essentially corresponds to that of a PI controller.
  • PI controller is known to be composed of components of a (proportional) P element and an (integrating) I element having a certain time constant.
  • the body For simulating a translationally or rotationally moved body, it is advantageous for the body to be a load machine simulating the dynamic behavior of a machine element, particularly of a flywheel mass.
  • Said load machine simulates the behavior of the machine element, which may be replaced by said load machine.
  • Said load machine may have a moment of inertia differing from the machine element to be simulated. For example, this is the case when the moment of inertia of the machine element to be simulated is very high, so that a load machine having the appropriate moment of inertia could not generate the torque required for simulation.
  • the aim of the present invention is achieved by a device as specified above, wherein the calculating device for determining the reference speed has a transmission element having a transmission function reciprocally proportional to the control transmission function.
  • the body is a load machine designed to imitate the dynamic behavior of a machine element, particularly a flywheel mass.
  • a machine element particularly a flywheel mass.
  • such device is part of a test bench as known in the art in various embodiments, particularly as a roller type test stand or a wheel test bench.
  • FIG. 1 is a schematic representation of a flywheel mass the dynamic behavior of which is simulated
  • FIG. 2 is a schematic representation of a load machine simulating the flywheel mass shown in FIG. 1 ;
  • FIG. 3 is a schematic representation of a control circuit according to a preferred embodiment of the present invention having a speed control for the load machine and a transmission element having a compensating element to compensate speed control dynamic.
  • FIG. 1 shows a rotationally moved body 1 having a flywheel mass 2 having a (reference) moment of inertia J soll .
  • Flywheel mass 2 is connected to a shaft 3 to which a torque M W is applied, causing the flywheel mass 2 to rotate in the direction of arrow 3 ′ at an (angular) speed ⁇ .
  • the law or principle of conservation of angular momentum gives the relationship between torque M W and (angular) acceleration according to equation (1).
  • Equation (1) is the basis of any flywheel mass simulation wherein speed ⁇ is derived from the measured torque M W and the reference moment of inertia J soll . This is achieved by transforming and integrating equation (1), yielding speed ⁇ if the reference moment of inertia J soll is known.
  • the transition between torque M W and speed ⁇ may be described in a known manner by reference transmission function T soll (s) having complex variable s. See equation (2) giving the actual behavior of flywheel mass 2 which is to be imitated as closely as possible in the simulation.
  • Roller type test stands known in the art may be used to simulate the behavior of a vehicle, taking into account friction and air resistance.
  • the principle of conservation of angular momentum used in equation (1) for a machine element having a (shaft) moment M W is extended to equation (3) wherein J v is the moment of inertia of the vehicle and M RL , is a moment corresponding to driving resistance.
  • moment M RL is given as a function of angular speed with coefficients A, B, C for friction and air resistance.
  • M RL A+B ⁇ +C ⁇ n (4)
  • FIG. 2 is a schematic representation of a load machine 4 used to simulate the body 1 shown in FIG. 1 in the form of a flywheel mass 2 .
  • Said load machine 4 which may be part of a test bench (not shown), has a moment of inertia J ist , which may differ from the desired reference moment of inertia J soll of body 1 . For example, this may happen if moment of inertia J soll is so large or small that a load machine 4 having the appropriate moment of inertia could not generate or receive the required torque.
  • the number of revolutions or speed of load machine 4 is controlled in order to balance the difference between the available moment of inertia J ist of load machine 4 and the moment of inertia of body 1 to be simulated.
  • an additional control moment M Reg is generated, which is applied to load machine 4 to equalize actual speed ⁇ ist with reference speed ⁇ soll .
  • FIG. 3 is a schematic representation of the control scheme of mass simulation implemented in a device 5 of a test bench (not shown).
  • Said device 5 has a measuring device 6 measuring torque M W acting on body 1 .
  • Said measuring device 6 is connected to a calculating device 7 having a module 8 containing the predetermined reference moment of inertia J soll of body 1 .
  • Calculating device 7 additionally has a transmission element 9 determining a reference speed ⁇ soll from the measured torque M W and reference moment of inertia J soll .
  • Said reference speed ⁇ soll is transmitted to speed control device 10 .
  • Said speed control device 10 has a control 11 determining an appropriate control moment M Reg according to the control deviation between reference speed ⁇ soll and actual speed ⁇ ist .
  • Said control moment M Reg is generated by load machine 4 to readjust the actual speed ⁇ ist according to reference speed ⁇ soll .
  • speed control results in a deviation between simulated behavior according to equation (7) and actual behavior of flywheel mass 2 to be simulated according to equation (2).
  • the simulated mass lags behind the actual mass by speed control function G(s) of the speed control, so that dynamic processes on the test bench would be imitated wrongly if the transmission function were implemented according to equation (7).
  • the mass simulation would become instable although the behavior of the actual system would be stable.
  • transmission element 9 has a transmission function P(s) reciprocally proportional to control transmission function G(s).
  • transmission member 9 has a “1/s” or integrating element 12 and a compensation element 13 inverse to control transmission function G(s). Consequently, transmission element 9 has a transmission function P(s) according to equation (8)
  • transmission function P(s) allows flywheel simulation to be disengaged from the dynamic of control of number of revolutions or speed control determined by transmission function G(s).
  • compensation element 13 of transmission element 9 is designed to compensate the dynamic of speed control.
  • transmission function P(s) of transmission element 9 replaces the conventionally used integrator, which is derived from the application of the principle of conservation of angular momentum according to equation (1).
  • speed control device 10 has control transmission function G(s) of the 1 st degree, which is defined by coefficients a 0 and b 0 according to equation (10), which coefficients may be selected freely depending on application.
  • Equation (11) immediately shows that the transmission function P(s) essentially corresponds to that of a simple PI controller, so that calculating device 7 may advantageously be composed of inexpensive, easily implementable standard modules.
  • speed control has a 2 nd degree transmission function defined generally by coefficients a 0 , a 1 , b 0 , b 1 according to equation (12), which coefficients may be selected freely depending on their application.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Feedback Control In General (AREA)
  • Testing Of Engines (AREA)
US13/807,120 2011-02-09 2011-11-08 Method and device for simulating a body that is moved in a translational or rotational manner Active US8689640B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AT0017211A AT510041B1 (de) 2011-02-09 2011-02-09 Verfahren und vorrichtung zur simulation eines translatorisch oder rotatorisch bewegten körpers
ATA172/2011 2011-02-09
PCT/AT2011/000449 WO2012106737A1 (de) 2011-02-09 2011-11-08 Verfahren und vorrichtung zur simulation eines translatorisch oder rotatorisch bewegten körpers

Publications (2)

Publication Number Publication Date
US20130098147A1 US20130098147A1 (en) 2013-04-25
US8689640B2 true US8689640B2 (en) 2014-04-08

Family

ID=44992426

Family Applications (1)

Application Number Title Priority Date Filing Date
US13/807,120 Active US8689640B2 (en) 2011-02-09 2011-11-08 Method and device for simulating a body that is moved in a translational or rotational manner

Country Status (4)

Country Link
US (1) US8689640B2 (de)
EP (1) EP2673610B1 (de)
AT (1) AT510041B1 (de)
WO (1) WO2012106737A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150107347A1 (en) * 2012-03-01 2015-04-23 Kristl, Seibt & Co. Gesellschaft M.B.H. Method for damping vibrations

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT515110B1 (de) * 2014-01-09 2015-06-15 Seibt Kristl & Co Gmbh Verfahren und Einrichtung zur Regelung eines Antriebsstrang-Prüfstands
AT522260B1 (de) * 2019-03-11 2021-08-15 Avl List Gmbh Verfahren und Regelungseinrichtung zur Regelung einer Drehzahl
DE102019133256A1 (de) * 2019-12-05 2021-06-10 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Verfahren und Vorrichtung zur Prüfung eines Bremssystems für ein Schienenfahrzeug
CN116952624A (zh) * 2022-04-14 2023-10-27 北京交通大学 一种比例模型试验台的设定方法、系统、装置及存储介质
AT528474A1 (de) 2024-06-27 2026-01-15 Avl Zoellner Gmbh Prüfstand und Verfahren zur Trägheitsbestimmung

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4161116A (en) 1976-08-30 1979-07-17 Automotive Environmental Systems, Inc. Inertia and road load simulation for vehicle testing
DE3423694A1 (de) 1983-06-28 1985-01-10 Horiba Ltd., Kyoto Fahrzeugdynamometer
US4556836A (en) * 1983-05-24 1985-12-03 Societe Industrielle De Sonceboz S.A. Multiphase motor damping method and circuit arrangement
US5060176A (en) * 1988-10-25 1991-10-22 Kabushiki Kaisha Meidensha Electric motor powered testing apparatus for automotive power transmission
JPH049732A (ja) 1990-04-27 1992-01-14 Meidensha Corp 慣性シュミレータ
US5747960A (en) * 1993-07-08 1998-05-05 Saulo Quaggio Computer controlled gearshift with automatic clutch actuator for vehicles with manual gearboxes
US5959422A (en) * 1997-03-25 1999-09-28 Samsung Electronics Co., Ltd. Device for and method of controlling vibrations of a two-inertial resonant system
US20030141128A1 (en) * 2000-12-30 2003-07-31 Ulrich Hessmert Method and system for controlling and/or regulating the handling characteristics of a motor vehicle
DE102005004632B3 (de) 2004-10-01 2006-05-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Steuerung oder Regelung von Prozessgrößen sowie zur näherungsweisen Inversion dynamischer Systeme
JP2008195270A (ja) 2007-02-14 2008-08-28 Toyota Motor Corp 車両用サスペンションシステム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3347182A1 (de) 1983-12-27 1985-07-04 Siemens AG, 1000 Berlin und 8000 München Verfahren zur schwungmassensimulation bei pruefstaenden
DE4427966A1 (de) 1994-08-09 1996-02-15 Schenck Pegasus Corp Verfahren und Vorrichtung zur Massensimulation auf ortsfesten Prüfständen

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4161116A (en) 1976-08-30 1979-07-17 Automotive Environmental Systems, Inc. Inertia and road load simulation for vehicle testing
US4556836A (en) * 1983-05-24 1985-12-03 Societe Industrielle De Sonceboz S.A. Multiphase motor damping method and circuit arrangement
DE3423694A1 (de) 1983-06-28 1985-01-10 Horiba Ltd., Kyoto Fahrzeugdynamometer
US5060176A (en) * 1988-10-25 1991-10-22 Kabushiki Kaisha Meidensha Electric motor powered testing apparatus for automotive power transmission
JPH049732A (ja) 1990-04-27 1992-01-14 Meidensha Corp 慣性シュミレータ
US5747960A (en) * 1993-07-08 1998-05-05 Saulo Quaggio Computer controlled gearshift with automatic clutch actuator for vehicles with manual gearboxes
US5959422A (en) * 1997-03-25 1999-09-28 Samsung Electronics Co., Ltd. Device for and method of controlling vibrations of a two-inertial resonant system
US20030141128A1 (en) * 2000-12-30 2003-07-31 Ulrich Hessmert Method and system for controlling and/or regulating the handling characteristics of a motor vehicle
DE102005004632B3 (de) 2004-10-01 2006-05-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Steuerung oder Regelung von Prozessgrößen sowie zur näherungsweisen Inversion dynamischer Systeme
JP2008195270A (ja) 2007-02-14 2008-08-28 Toyota Motor Corp 車両用サスペンションシステム

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Austrian Office Action dated Jun. 15, 2011.
International Preliminary Report on Patentability dated Nov. 8, 2011; PCT/AT2011/000449.
International Search Report mailed Jan. 3, 2012; PCT/AT2011/000449.

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150107347A1 (en) * 2012-03-01 2015-04-23 Kristl, Seibt & Co. Gesellschaft M.B.H. Method for damping vibrations
US9632007B2 (en) * 2012-03-01 2017-04-25 Kristl, Seibt & Co. Gesellschaft M.B.H. Method for damping vibrations while testing a drivetrain having at least one shaft

Also Published As

Publication number Publication date
EP2673610B1 (de) 2014-12-24
EP2673610A1 (de) 2013-12-18
AT510041B1 (de) 2012-01-15
US20130098147A1 (en) 2013-04-25
AT510041A4 (de) 2012-01-15
WO2012106737A1 (de) 2012-08-16

Similar Documents

Publication Publication Date Title
US8689640B2 (en) Method and device for simulating a body that is moved in a translational or rotational manner
US8418542B2 (en) Test stand assembly including connecting shaft having adaptor flange with selected mass and moment of inertia
KR102510173B1 (ko) 추진 토크를 결정하기 위한 방법 및 장치
CN105452833B (zh) 用于在试验台中减少振动的方法
US9134712B2 (en) Method and control arrangement for controlling a controlled system with a repeating working cycle
US9651452B2 (en) Method and device for controlling a powertrain test stand
US11740158B2 (en) Method for operating a test bench in order to determine a torque and a speed
US9632007B2 (en) Method for damping vibrations while testing a drivetrain having at least one shaft
JP7343503B2 (ja) テストベンチを作動させるための方法
JP2004361255A (ja) 動力計測システムの電気慣性制御方式
JP7303112B2 (ja) 実体変速機を備えるパワートレインテストベンチを制御するための、特に閉ループ制御するための方法
JP6492514B2 (ja) パワートレイン試験装置
CN108279380B (zh) 电机的工况模拟系统和方法
KR20200106557A (ko) 다이나모미터 시스템의 제어 장치
JP2004233223A (ja) 原動機の試験装置
JP5790339B2 (ja) 動力伝達系の試験装置
JP4655677B2 (ja) 動力伝達系の試験装置とその制御方法
JP2010043940A (ja) 動力伝達系の試験装置およびその制御方法
CN103235157B (zh) 一种两种类型陀螺信息融合地面验证系统
WO2015186616A1 (ja) シャシーダイナモメータの制御装置
JP4946495B2 (ja) 動力計測システムの電気慣性制御装置
JP2006090795A (ja) シャシダイナモメータの性能評価方法とその装置
JP4656245B2 (ja) 動力伝達系の試験装置とその制御方法
JP4639046B2 (ja) 動力伝達系の試験装置とその制御方法
Mate et al. Design and development of two wheeler retarder type dynamometer portable test platform

Legal Events

Date Code Title Description
AS Assignment

Owner name: KRISTL, SEIBT & CO. GESELLSCHAFT M.B.H., AUSTRIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BAUER, ROBERT;ETTL, WOLFGANG;GRITSCH, CHRISTIAN;AND OTHERS;SIGNING DATES FROM 20121105 TO 20121106;REEL/FRAME:029534/0360

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551)

Year of fee payment: 4

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2552); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

Year of fee payment: 8

FEPP Fee payment procedure

Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE UNDER 1.28(C) (ORIGINAL EVENT CODE: M1559); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

FEPP Fee payment procedure

Free format text: PETITION RELATED TO MAINTENANCE FEES GRANTED (ORIGINAL EVENT CODE: PTGR); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 12TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1553); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 12